From ddce711acb9816651ac7aaa5f14b967371e61f0e Mon Sep 17 00:00:00 2001
From: Daniel Agar <daniel@agar.ca>
Date: Sun, 4 Oct 2020 14:57:36 -0400
Subject: [PATCH] drivers/rc_input: command line bind use vehicle_command

---
 src/drivers/rc_input/RCInput.cpp | 13 ++++++-------
 src/drivers/rc_input/RCInput.hpp | 27 +++++++++++++++------------
 2 files changed, 21 insertions(+), 19 deletions(-)

diff --git a/src/drivers/rc_input/RCInput.cpp b/src/drivers/rc_input/RCInput.cpp
index 74aabb21f5..4ede8afc53 100644
--- a/src/drivers/rc_input/RCInput.cpp
+++ b/src/drivers/rc_input/RCInput.cpp
@@ -37,10 +37,6 @@
 
 using namespace time_literals;
 
-#if defined(SPEKTRUM_POWER)
-static bool bind_spektrum(int arg = DSMX8_BIND_PULSES);
-#endif /* SPEKTRUM_POWER */
-
 constexpr char const *RCInput::RC_SCAN_STRING[];
 
 RCInput::RCInput(const char *device) :
@@ -606,7 +602,7 @@ void RCInput::Run()
 }
 
 #if defined(SPEKTRUM_POWER)
-bool bind_spektrum(int arg)
+bool RCInput::bind_spektrum(int arg) const
 {
 	int ret = PX4_ERROR;
 
@@ -652,8 +648,11 @@ int RCInput::custom_command(int argc, char *argv[])
 	const char *verb = argv[0];
 
 	if (!strcmp(verb, "bind")) {
-		// TODO: publish vehicle_command
-		bind_spektrum();
+		uORB::PublicationQueued<vehicle_command_s> vehicle_command_pub{ORB_ID(vehicle_command)};
+		vehicle_command_s vcmd{};
+		vcmd.command = vehicle_command_s::VEHICLE_CMD_START_RX_PAIR;
+		vcmd.timestamp = hrt_absolute_time();
+		vehicle_command_pub.publish(vcmd);
 		return 0;
 	}
 
diff --git a/src/drivers/rc_input/RCInput.hpp b/src/drivers/rc_input/RCInput.hpp
index 52c0a83f5b..55f521cb9a 100644
--- a/src/drivers/rc_input/RCInput.hpp
+++ b/src/drivers/rc_input/RCInput.hpp
@@ -85,8 +85,6 @@ public:
 
 private:
 
-	void Run() override;
-
 	enum RC_SCAN {
 		RC_SCAN_PPM = 0,
 		RC_SCAN_SBUS,
@@ -105,6 +103,21 @@ private:
 		"CRSF"
 	};
 
+	void Run() override;
+
+#if defined(SPEKTRUM_POWER)
+	bool bind_spektrum(int arg = DSMX8_BIND_PULSES) const;
+#endif // SPEKTRUM_POWER
+
+	void fill_rc_in(uint16_t raw_rc_count_local,
+			uint16_t raw_rc_values_local[input_rc_s::RC_INPUT_MAX_CHANNELS],
+			hrt_abstime now, bool frame_drop, bool failsafe,
+			unsigned frame_drops, int rssi);
+
+	void set_rc_scan_state(RC_SCAN _rc_scan_state);
+
+	void rc_io_invert(bool invert);
+
 	hrt_abstime _rc_scan_begin{0};
 
 	bool _initialized{false};
@@ -135,14 +148,4 @@ private:
 
 	perf_counter_t      _cycle_perf;
 	perf_counter_t      _publish_interval_perf;
-
-	void fill_rc_in(uint16_t raw_rc_count_local,
-			uint16_t raw_rc_values_local[input_rc_s::RC_INPUT_MAX_CHANNELS],
-			hrt_abstime now, bool frame_drop, bool failsafe,
-			unsigned frame_drops, int rssi);
-
-	void set_rc_scan_state(RC_SCAN _rc_scan_state);
-
-	void rc_io_invert(bool invert);
-
 };